Working Machine Oscillation Control via Dynamic Gain Adjustment
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Solution Overview
Problem
Existing working machines face challenges in stabilizing operation during travel and work due to vibrations, leading to hunting and jerking issues, as existing control systems fail to effectively adjust control signals in response to oscillations of operation members.
Innovation Solution
A working machine equipped with a controller that calculates an evaluation value representing the degree of oscillation of operation members and adjusts control signals accordingly, using an oscillation calculator and control signal generator to adapt the signal strength based on the oscillation frequency and amplitude, thereby stabilizing the operation during travel and work.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the control signal is directly used without adjustment, then the operation response is fast and responsive, but hunting and jerking occur due to vibrations causing instability
Solution Approach 1:
The control signal generation is made dynamic by continuously adjusting the gain based on real-time oscillation detection. The system transitions from a static gain approach to a dynamic one where the gain varies with the oscillation state, allowing the system to adapt its responsiveness based on current operating conditions
Solution Approach 2:
The system implements feedback by detecting oscillations in the operation member and using this information to adjust the control signal. The oscillation detection unit monitors the operation member's state and feeds this information back to the control signal generation unit, which then modifies the control signal accordingly to suppress hunting and jerking
2Stability of the object's composition
If a low-pass filter is applied to the operation signal, then oscillation is reduced, but the operation response becomes delayed and less precise
Solution Approach 1:
The invention extracts only the necessary oscillation information from the operation signal without filtering the entire signal. By detecting specific oscillation features (such as crossing the neutral position or reaching peaks) and using only this extracted information for control adjustment, the system avoids the time delays associated with comprehensive signal filtering while still achieving oscillation suppression
3Stability of the object's composition
If the control signal is decreased to reduce oscillation impact, then stability improves, but the operation effectiveness and productivity decrease
Solution Approach 1:
The control signal magnitude is made dynamic rather than static. The gain adjustment is continuously varied based on the detected oscillation state, allowing the control signal to be strong when needed for effectiveness and reduced when oscillation suppression is prioritized, optimizing both productivity and stability in different operating phases
Solution Approach 2:
The system changes the parameter of control signal gain based on oscillation detection. By dynamically adjusting this parameter according to the oscillation state, the system maintains high effectiveness during normal operation while automatically reducing the impact during oscillation events, thus resolving the contradiction between stability and productivity
Data Source
AI summary
A working machine comprises an operation member for operating a hydraulic device via a control valve. An oscillation calculator acquires a specific value corresponding to a feature representing oscillation of the operation member when the feature appears in variation of an control signal output according to an operation amount of the operation member within one of a sequence of predetermined periods, and calculates an evaluation value representing a degree of oscillation of the operation member by adding up the specific value or values obtained within one or more of the predetermined periods. A control signal generator generates a control signal for controlling the control valve based on the operation signal. The control signal generator decreases a value of the control signal per a unit value of the operation signal as the evaluation value gradually increases with the elapse of one or more of the sequence of the predetermined periods.